DE102008035384A1 - Method and device for applying a teat cup to a teat of an animal - Google Patents

Abstract

A method for applying one or more teat cups to a teat (11) or to a plurality of teats (11) of a dairy animal comprises the following steps: a) A perspective 3-D direct image of the at least one or more teat cups (5 ) and the one or more teats (11) of the dairy animal; d) then the relative distance between the milking cups (5) and the teats or teats (11) is determined from the 3-D direct image with an image processing device, c ) with the aid of the distance determination from step b), a control movement (10) for each of the milking cups (5) to be performed is determined for one or more actuators (6, 8) for moving the milking cups (5), with which the determined relative distance between the teat cups (5) and the teats (11) is reduced, d) the driving movement is performed and completed, if no error occurs, and / or e) it is / For example, one or more of the 3-D direct recordings that have been made are evaluated by means of a diagnosis and / or stored and / or output for a diagnosis.

Description

The The invention relates to a method for applying a milking cup to a teat of an animal according to the preamble of claim 1 and an apparatus for carrying out the method.

It is a major problem of milking robots, the position of the Teats of the animal to be milked quickly and reliably to determine. Since a milking robot is used on living animals, must In particular, he would be able to physiological differences to recognize between the animals and unforeseen movements to capture the animals and in determining the teat position to take into account.

A generic method and a generic device are from the DE 103 51 549 A1 known. In this document, it is proposed, with the aid of a detection device, to determine the coordinates of a teat in the room and possibly the coordinates of a teat cup in the room and then to move in response to this measurement the teat cup to the location of the teat and attach to the teat. This solution has proven itself, but it requires a particularly precise measuring device for the absolute determination of the positions in the room and a large computing power.

The Currently used milking robots usually use a teat finding device, the works with the help of a camera and a laser. With the help of this Components a laser triangulation system is realized, the is arranged on the moving parts of the milking robot.

The Camera detects the reflection of the red laser light and due the synchronized movements of the actuators of the milking robot the teat position can be calculated. To put on the milking cups, However, the known device must also be the absolute Position of the teat cup opening can. This means that a very high, accurate correlation between the elements of Robot kinematics (i.e., in particular those actuated by actuators Sharing this kinematics), the milking cup opening, the teat locating sensor and the selected teat must exist.

Around To achieve this high accuracy must be relatively expensive Position sensors such as encoders are used and it is one very accurate calibration of the entire system required.

If If a cow steps against the mechanics of the milking robot, this can also happen result in a mechanical deviation, as a result of which the given absolute position differs from the stored calibration position. In the worst case, it may even be possible that one complete recalibration of the system by the manufacturer's service necessary is.

To solve this problem is in the WO 2007/104 124 A1 discloses to hold the teats and the teat cups in a common 3D direct recording and to design the measurement of the position of the teats with respect to the teat cups as a relative measurement. In this way, the measurement and thus the piecing process are considerably simplified

The Against this background, the invention has the task of further optimizing Method and a further optimized device for applying a milking cup to create a teat of an animal.

The The invention solves this problem with regard to the method by the subject-matter of claim 1 and with respect to the device by the subject-matter of claim 16.

• a: es wird eine perspektivische 3D-Direktaufnahme von dem wenigstens einen oder den mehreren Melkbechern und der einen oder den mehreren Zitzen des milchgebenden Tieres getätigt;
• b: sodann wird aus der 3D-Direktaufnahme der relative Abstand zwischen dem oder den Melkbechern und der oder den Zitzen ermittelt,
• c: mit Hilfe der Distanzbestimmung aus Schritt b) wird von einer Steuerungseinrichtung eine von dem oder den Melkbechern jeweils durchzuführende Ansteuerbewegung für einen oder mehrere Aktuatoren zum Bewegen der Melkbecher errechnet, mit welcher der ermittelte relative Abstand zwischen den Melkbechern und den Zitzen verringert wird,
• d: die Ansteuerbewegung wird durchgeführt und abgeschlossen, sofern kein Fehler auftritt, und/oder
• e: es wird/werden eine oder mehrere der getätigten 3D-Direktaufnahmen mittels einer Diagnose ausgewertet und/oder für eine Diagnose gespeichert und/oder ausgegeben.

The invention according to claim 1 provides a method for applying one or more teat cups to a teat or to a plurality of teats of a dairy animal, comprising the steps of:

• a: a 3D perspective direct image of the at least one or more milking cups and the one or more teats of the dairy animal is taken;
• b: then the relative distance between the milking cup (s) and the teats or teats is determined from the 3D direct image,
• c: with the aid of the distance determination from step b), a control movement calculates a drive movement respectively to be carried out by the milking cup (s) for one or more actuators for moving the milking cups, with which the determined relative distance between the milking cups and the teats is reduced;
• d: the driving movement is performed and completed, unless an error occurs, and / or
• e: one or more of the 3D direct images taken is / are evaluated by means of a diagnosis and / or stored and / or output for a diagnosis.

Preferably the saving or outputting of the 3D direct recording takes place at least when an error occurs in step d).

Preferably If an error occurs, an alarm is given and / or the Startup process aborted.

It is convenient and to guarantee Safe operation advantageous if in step b) a partial computer-aided diagnosis of the effected 3D recording takes place. Thus, in step b), a diagnosis of the 3D image taken can be made on the basis of an animal-specific comparison with pre-stored data, in particular on the basis of a comparison with data of previous attachment processes.

The Driving movement of the milking cups (or at least one milking cup) includes a drive for moving and aligning the teat cups required robot kinematics, d. H. usually a driving the actuator or actuators of the support arm for the milking machine and / or a control of the actuator for the milking cup.

With Help the 3D camera (3D direct camera) it is possible to use a To take a picture on which both the target (the teats) as well as the milking cups are to be seen together.

The Device consists of the 3D direct camera, and the image processing and control means for the actuators, wherein the the latter device software and hardware to a device be summarized or consist of separate facilities can.

The 3D camera generates a perspective view of the udder (obliquely from below) and the teat cup or teat cup. Then it is with Help recording a relative distance measurement between the teats and the milking cups. Through this data is the control of the axles is activated and the teat cup becomes relative moved to the teat. Preferably, the teat cups are replaced by a constant recalculation of relative current distances from new recordings in a simple manner targeted.

Should z. B. a piecing after repeated attempt unsuccessful be carried out in this case of error at least one of the 3D direct shots to use for fixation or should, in the camera system or elsewhere of the control device stored the milking robot. Should a piecing process be unsuccessful can be canceled or take a long time, the picture with the corresponding error code also to a herd management system (a higher-level computer with corresponding programs) be sent.

There can then z. B. the farmer carried out a diagnosis to determine why the piecing process at the respective Animal could not be done automatically. So is It is conceivable that the diagnosis indicates that the animal is due to a exceptional udder geometry better in one Hand picking group is added.

It It is conceivable that the diagnosis can be made locally at an input and output terminal the milking robot takes place. Preferably, however, the diagnosis is made as a remote diagnosis, especially over the internet.

Further - too in itself inventive - developments of the invention Method are given in claims 13 and 15, the advantages of which are apparent from the following description of the figures.

The The invention also provides a milking robot according to claim 17 with a Apparatus according to claim 16. Preferably, this has a control device with a modular design.

following the invention is based on an embodiment below With reference to the drawings described in more detail. It shows:

1 a 3D direct recording of an udder of an animal;

2 a schematic representation of a 3D direct recording of the udder of an animal and the milking cup of a milking parlor; and

3 a schematic representation of a part of a device according to the invention.

3 shows a part of a device according to the invention 1 for attaching a milking cup to a teat of an animal, which in turn is part of an automatic milking robot, not otherwise shown here, which has at least one milking stall or milking stalls for milking dairy animals.

The device 1 has here in a preferred embodiment, a milking machine 2 on, that's a milking piece 3 which has short milk tubes 4 with milking cups 5 connected is. The short milk tubes 4 Furthermore, each is at least one actuator 6 associated with which the short milk tubes 4 and with it the milking cups 5 can each be moved from a lowered to a raised position. In 3 is part of the milking cups 5 in the lowered position and one of the milking cups 5 in the raised position.

The milking machine 2 is on a single or multi-part arm 7 arranged, the at least one or more actuators 8th are assigned, which make it possible, the support arm 7 to move on a basic frame, not shown here at the milking stall in a given space section in the three spatial dimensions X, Y and Z.

On, preferably on the support arm 7 is as a detection device, a 3D direct camera 9 arranged, which is an image processing and control device 10 has and / or is connected to such, which are the images of the 3D direct camera 9 evaluates and from the recordings control movements for the actuators 6 and or 8th calculated and controls the actuators accordingly. The recordings may also be saved. As from the realistic picture of the 1 in interaction with the more schematic picture of the 2 can recognize, can be placed almost directly in the 3D direct recording a spatial coordinate system, from which the relative distance X between the teat and the respective milking cups can be determined.

The Evaluation and control device may be part of a parent Control device which is used for monitoring and control the entire milking robot is used in its operation. It is preferred but a decentralized, modular design of the milking robot and in particular also the control device of the milking robot, which at a central data bus (eg Ethernet) of the milking robot different self-sufficient computer for controlling autonomous functional areas are connected, with one of these functional areas the automatic Teat finding and the automatic attachment of the teat cups to the includes found teats.

To the milking cups 5 to the teats 11 of an udder 12 To start with an animal to be milked, which has entered the milking robot, a 3D direct recording of the milking cups is first made 5 and the udder of the animal to be milked, located in the milking robot (see 1 and 2 ). Preferably, the recording is made from a position obliquely below the teats. Preference is given to recording with the 3D direct camera 9 from a given basic position, which can be determined empirically, and which usually makes it possible to take a picture on which both the teats of the animal and the teat cups are imaged.

Then, the 3D direct recording directly from the relative distance between the teat cups 5 and the teats 11 determined without absolutely determining the position of the teats 11 in the room. With the help of this distance determination is with a control device one of the robot kinematics on milking or the milking cups 5 to be performed driving movement, which is necessary to the distance between the teat cups 5 and the teats 11 to reduce. In order to detect unforeseen movements of the animal and to be able to compensate if necessary, it is useful to minimize the distance between the teat cups 5 and make the teats regulating, which means that repeated -. B. in a given time grid - 3D direct shots are made to repeatedly the relative distance between the teat cups 5 and the teats 11 to detect or determine the size to be minimized and to determine from the determined variables actuating signals for the actuator (s) with which the position of the milking cups 5 is variable in space and around the actuators of the robot kinematics - the actuators 6 and 8th to move the milking cups 5 and the support arm 7 - to control accordingly.

According to a preferred embodiment, the milking cups 5 Total equal to the beginning of the piecing process or at least after a first coarse straightening of the support arm 7 moved to the raised position after a first shot (see 2 ).

Then it is diagnosed whether all the teats on the 3D direct recording are determined 11 of the animal and all milking cups 6 are shown for milking the animal. An attachment of the teat cups takes place only when a relative distance information from the recording can be determined between all known teats and in each case at least one of the teat cups (analogously to 2 but where already one of the milking cups 5 to one of the teats 11 was scheduled).

If it is not possible, from the recording or after possibly further recordings after moving the support arm 7 in one or more other positions all the teats in diagnostic terms 11 of an animal to determine the Ansetzvorgang can be aborted and possibly output an error signal.

It Furthermore, the piecing process can be aborted and possibly an error signal issued and preferably at least one recording are stored, if from the 3D-Direktaufnahme diagnoseartig computer-aided or an error is detected by an operator, such a missing (eg teat) or a sick teat or the like)

It is particularly advantageous, if necessary, the recording or recordings, the with this error case or another possible error case was made to save, based on these shots If necessary, carry out a further diagnosis. So it is u. U. possible for the farmer, based to determine if the animal is in a handcuffing group should be classified by animals or whether it is for example is a heavily polluted or injured animal.

The diagnosis can be made locally at an input input and output terminal of the milking robot or in the context of a remote diagnosis z. B. over the Internet. It can also be directly computerized with the facility 10 a diagnosis z. B. done by comparison with prestored data. The diagnosis made possible by storing the recordings of the teat-locating device considerably facilitates the operation of the milking robot.

Finally, the invention also makes it possible to determine the alignment of the teats in the room. If this differs greatly from the vertical, it is conceivable that the teat cups 5 when attaching to the teats 11 align with this alignment information.

1

contraption

2

cluster

3

Milking claw

4

milk tubes

5

teat cups

6

actuator

7

Beam

8th

actuators

9

3D Direct Camera

10

image processing and control device

11

teats

12

udder

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 10351549 A1 [0003]
• - WO 2007/104124 A1 [0008]

Claims (18)

Method for applying one or more milking cups to a teat ( 11 ) or to several teats ( 11 ) of a dairy animal, comprising the following steps: a) a perspective 3D direct image of the at least one or more milking cups ( 5 ) and the one or more teats ( 11 ) of the dairy animal; b) then from the 3D direct recording with an image processing device, the relative distance between the teat cups ( 5 ) and the one or more teats ( 11 c) using the distance determination from step b) is determined by a control device ( 10 ) one of the milking cups ( 5 ) each to be performed driving movement for one or more actuators ( 6 . 8th ) for moving the milking cups ( 5 ) with which the determined relative distance between the milking cups ( 5 ) and the teats ( 11 d) the driving movement is carried out and completed, if no error occurs, and / or e) one or more of the 3D direct images taken is / are evaluated by means of a diagnosis and / or stored and / or output for a diagnosis , Method according to claim 1, characterized in that that at least when an error occurs in step d) the storing or output the 3D direct recording. Method according to claim 1 or 2, characterized that in step b) a computer-aided diagnosis of the effected 3D recording done. Method according to claim 1, 2 or 3, characterized in step b), a diagnosis of the 3D image taken on the basis of an animal-specific comparison with pre-stored data, in particular on the basis of a comparison with data from previous attachments he follows. Method according to one of the preceding claims, characterized in that during the piecing process when an error occurs an alarm given and / or the piecing process is canceled, Method according to one of the preceding claims, characterized in that the 3D direct recording from a position below the teats ( 11 ) of the animal to be milked. Method according to one of the preceding claims, characterized in that with the help of the stored recordings It determines if an animal is in a hand-to-bevel group of animals is to be classified or whether it is a heavily polluted or injured animal. Method according to one of the preceding claims, characterized in that the diagnosis on site directly on a Input and output terminal of the milking robot takes place. Method according to one of the preceding claims, characterized in that the diagnosis is performed as a remote diagnosis becomes. Method according to claim 9, characterized in that that the diagnosis is performed as a remote diagnosis over the Internet becomes. Method according to one of claims 1 to 10 or according to the features a) to d) of claim 1, characterized in that the alignment of the teats ( 11 ) is determined in the room and that the milking cups ( 5 ) when applying to the teats ( 11 ) are aligned obliquely to the vertical according to this alignment information when the teats ( 11 ) are inclined by more than a predetermined limit angle to the vertical. Method according to one of claims 1 to 11, characterized in that it is determined whether on the 3D direct recording all known teats ( 11 ) of the animal to be milked and all teat cups ( 5 ) of the milking cluster ( 2 ) and that application only takes place when between all the teats ( 11 ) and one of the milking cups ( 5 ) in each case a relative distance information from the recording can be determined. Method according to one of the preceding claims or according to features a) to d) of claim 1, characterized that minimizing the distance between the teat cups and regulating the teats, wherein repeated -. In a given time grid - the steps a) to d) of Go through claim 1. Method according to one of the preceding claims, characterized in that in step a) a perspective 3D direct recording is done. Method according to one of the preceding claims or according to features a) to d) of claim 1, characterized that the piecing process aborted and possibly output an error signal and preferably at least one recording is stored when from the 3D direct recording another error case is determined, such a missing (eg teat) or a sick teat or the like) Apparatus for carrying out the method according to one of the preceding claims, characterized by a 3D direct camera ( 9 ) and an image processing and control device connected to the 3D direct camera ( 10 ), which is designed to directly determine the relative distance between the milking cups and the teats of the animal to be milked, from direct 3D images taken, and to determine and carry out a corresponding movement movement for a robot kinematics for moving the milking cups; Evaluate the transacted 3D direct images for a diagnosis and / or at least save them when an error occurs during the attachment. Milking robot, characterized by a device according to claim 16. Milking robot, in particular according to claim 17, characterized by a modular construction of its control device.